<!-- HTML header for doxygen 1.8.6-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">

<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta content="text/xhtml;charset=utf-8" http-equiv="Content-Type"/>
<meta content="IE=9" http-equiv="X-UA-Compatible"/>
<meta content="Doxygen 1.8.13" name="generator"/>
<title>OpenCV: cv::rgbd::Odometry Class Reference</title>
<link href="../../opencv.ico" rel="shortcut icon" type="image/x-icon"/>
<link href="../../tabs.css" rel="stylesheet" type="text/css"/>
<script src="../../jquery.js" type="text/javascript"></script>
<script src="../../dynsections.js" type="text/javascript"></script>
<script src="../../tutorial-utils.js" type="text/javascript"></script>
<link href="../../search/search.css" rel="stylesheet" type="text/css"/>
<script src="../../search/searchdata.js" type="text/javascript"></script>
<script src="../../search/search.js" type="text/javascript"></script>
<script type="text/x-mathjax-config">
  MathJax.Hub.Config({
    extensions: ["tex2jax.js", "TeX/AMSmath.js", "TeX/AMSsymbols.js"],
    jax: ["input/TeX","output/HTML-CSS"],
});
//<![CDATA[
MathJax.Hub.Config(
{
  TeX: {
      Macros: {
          matTT: [ "\\[ \\left|\\begin{array}{ccc} #1 & #2 & #3\\\\ #4 & #5 & #6\\\\ #7 & #8 & #9 \\end{array}\\right| \\]", 9],
          fork: ["\\left\\{ \\begin{array}{l l} #1 & \\mbox{#2}\\\\ #3 & \\mbox{#4}\\\\ \\end{array} \\right.", 4],
          forkthree: ["\\left\\{ \\begin{array}{l l} #1 & \\mbox{#2}\\\\ #3 & \\mbox{#4}\\\\ #5 & \\mbox{#6}\\\\ \\end{array} \\right.", 6],
          forkfour: ["\\left\\{ \\begin{array}{l l} #1 & \\mbox{#2}\\\\ #3 & \\mbox{#4}\\\\ #5 & \\mbox{#6}\\\\ #7 & \\mbox{#8}\\\\ \\end{array} \\right.", 8],
          vecthree: ["\\begin{bmatrix} #1\\\\ #2\\\\ #3 \\end{bmatrix}", 3],
          vecthreethree: ["\\begin{bmatrix} #1 & #2 & #3\\\\ #4 & #5 & #6\\\\ #7 & #8 & #9 \\end{bmatrix}", 9],
          cameramatrix: ["#1 = \\begin{bmatrix} f_x & 0 & c_x\\\\ 0 & f_y & c_y\\\\ 0 & 0 & 1 \\end{bmatrix}", 1],
          distcoeffs: ["(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \\tau_x, \\tau_y]]]]) \\text{ of 4, 5, 8, 12 or 14 elements}"],
          distcoeffsfisheye: ["(k_1, k_2, k_3, k_4)"],
          hdotsfor: ["\\dots", 1],
          mathbbm: ["\\mathbb{#1}", 1],
          bordermatrix: ["\\matrix{#1}", 1]
      }
  }
}
);
//]]>
</script><script src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.0/MathJax.js" type="text/javascript"></script>
<link href="../../doxygen.css" rel="stylesheet" type="text/css"/>
<link href="../../stylesheet.css" rel="stylesheet" type="text/css"/>
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<!--#include virtual="/google-search.html"-->
<table cellpadding="0" cellspacing="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectlogo"><img alt="Logo" src="../../opencv-logo-small.png"/></td>
  <td style="padding-left: 0.5em;">
   <div id="projectname">OpenCV
    <span id="projectnumber">4.5.2</span>
   </div>
   <div id="projectbrief">Open Source Computer Vision</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.13 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "../../search",false,'Search');
</script>
<script src="../../menudata.js" type="text/javascript"></script>
<script src="../../menu.js" type="text/javascript"></script>
<script type="text/javascript">
$(function() {
  initMenu('../../',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow" onkeydown="return searchBox.OnSearchSelectKey(event)" onmouseout="return searchBox.OnSearchSelectHide()" onmouseover="return searchBox.OnSearchSelectShow()">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe frameborder="0" id="MSearchResults" name="MSearchResults" src="javascript:void(0)">
</iframe>
</div>
<div class="navpath" id="nav-path">
  <ul>
<li class="navelem"><a class="el" href="../../d2/d75/namespacecv.html">cv</a></li><li class="navelem"><a class="el" href="../../d7/d0b/namespacecv_1_1rgbd.html">rgbd</a></li><li class="navelem"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">Odometry</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="summary">
<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
<a href="#pro-methods">Protected Member Functions</a> |
<a href="../../db/d00/classcv_1_1rgbd_1_1Odometry-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">cv::rgbd::Odometry Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span><div class="ingroups"><a class="el" href="../../d2/d3a/group__rgbd.html">RGB-Depth Processing</a></div></div>  </div>
</div><!--header-->
<div class="contents">
<p><code>#include &lt;opencv2/rgbd/depth.hpp&gt;</code></p>
<div class="dynheader">
Inheritance diagram for cv::rgbd::Odometry:</div>
<div class="dyncontent">
 <div class="center">
  <img alt="" src="../../df/ddc/classcv_1_1rgbd_1_1Odometry.png" usemap="#cv::rgbd::Odometry_map"/>
  <map id="cv::rgbd::Odometry_map" name="cv::rgbd::Odometry_map">
<area alt="cv::Algorithm" coords="267,0,435,24" href="../../d3/d46/classcv_1_1Algorithm.html" shape="rect" title="This is a base class for all more or less complex algorithms in OpenCV. "/>
<area alt="cv::rgbd::FastICPOdometry" coords="0,112,168,136" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html" shape="rect"/>
<area alt="cv::rgbd::ICPOdometry" coords="178,112,346,136" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html" shape="rect"/>
<area alt="cv::rgbd::RgbdICPOdometry" coords="356,112,524,136" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html" shape="rect"/>
<area alt="cv::rgbd::RgbdOdometry" coords="534,112,702,136" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html" shape="rect"/>
</map>
 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:ae7a3edbfabe941c9af6bd0f9beff53d0"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <br/>
  <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0ae3468f480f38fd07af69c3464c87d558">ROTATION</a> = 1, 
<br/>
  <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0ac2ff112f8f88bc6d52804e7381ac48c4">TRANSLATION</a> = 2, 
<br/>
  <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0a754692ca9d6cadbc925cc7ce2337ed95">RIGID_BODY_MOTION</a> = 4
<br/>
 }</td></tr>
<tr class="separator:ae7a3edbfabe941c9af6bd0f9beff53d0"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ad88ca6c6231d5accf4b3a595d7ebaf0c"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ad88ca6c6231d5accf4b3a595d7ebaf0c">compute</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;srcImage, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;srcDepth, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;srcMask, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dstImage, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dstDepth, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dstMask, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;initRt=<a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()) const</td></tr>
<tr class="separator:ad88ca6c6231d5accf4b3a595d7ebaf0c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:af706a3bb35d2b69737e7f4492c4ece4f"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#af706a3bb35d2b69737e7f4492c4ece4f">compute</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;srcFrame, <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;dstFrame, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;initRt=<a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()) const</td></tr>
<tr class="separator:af706a3bb35d2b69737e7f4492c4ece4f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9eb4dd7790987524cd5aa5355c602422"><td align="right" class="memItemLeft" valign="top">virtual <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9eb4dd7790987524cd5aa5355c602422">getCameraMatrix</a> () const =0</td></tr>
<tr class="separator:a9eb4dd7790987524cd5aa5355c602422"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ac1cd3bb8aa12d895ec403db30d786b2f"><td align="right" class="memItemLeft" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ac1cd3bb8aa12d895ec403db30d786b2f">getTransformType</a> () const =0</td></tr>
<tr class="separator:ac1cd3bb8aa12d895ec403db30d786b2f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a894cc56de5ecc916d19a7984c6f307a8"><td align="right" class="memItemLeft" valign="top">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a894cc56de5ecc916d19a7984c6f307a8">prepareFrameCache</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;frame, int cacheType) const</td></tr>
<tr class="separator:a894cc56de5ecc916d19a7984c6f307a8"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a658b4fd102a96211fba428b16633b1c8"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a658b4fd102a96211fba428b16633b1c8">setCameraMatrix</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;val)=0</td></tr>
<tr class="separator:a658b4fd102a96211fba428b16633b1c8"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8b4b267ab88b06d85cd394a84553181d"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a8b4b267ab88b06d85cd394a84553181d">setTransformType</a> (int val)=0</td></tr>
<tr class="separator:a8b4b267ab88b06d85cd394a84553181d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcv_1_1Algorithm')"><img alt="-" src="../../closed.png"/> Public Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a827c8b2781ed17574805f373e6054ff1 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a827c8b2781ed17574805f373e6054ff1">Algorithm</a> ()</td></tr>
<tr class="separator:a827c8b2781ed17574805f373e6054ff1 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8ae826127fa0f1f8d10a24841bd376f8 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a8ae826127fa0f1f8d10a24841bd376f8">~Algorithm</a> ()</td></tr>
<tr class="separator:a8ae826127fa0f1f8d10a24841bd376f8 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#aec9c965448e4dc851d7cacd3abd84cd1">clear</a> ()</td></tr>
<tr class="memdesc:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Clears the algorithm state.  <a href="../../d3/d46/classcv_1_1Algorithm.html#aec9c965448e4dc851d7cacd3abd84cd1">More...</a><br/></td></tr>
<tr class="separator:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#ab6a18f1825475643e94381697d413972">empty</a> () const</td></tr>
<tr class="memdesc:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Returns true if the <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html" title="This is a base class for all more or less complex algorithms in OpenCV. ">Algorithm</a> is empty (e.g. in the very beginning or after unsuccessful read.  <a href="../../d3/d46/classcv_1_1Algorithm.html#ab6a18f1825475643e94381697d413972">More...</a><br/></td></tr>
<tr class="separator:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a286fc82744ccab3d248aca44524266a9 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a286fc82744ccab3d248aca44524266a9">getDefaultName</a> () const</td></tr>
<tr class="separator:a286fc82744ccab3d248aca44524266a9 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#aef2ad3f4145bd6e8c3664eb1c4b5e1e6">read</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)</td></tr>
<tr class="memdesc:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Reads algorithm parameters from a file storage.  <a href="../../d3/d46/classcv_1_1Algorithm.html#aef2ad3f4145bd6e8c3664eb1c4b5e1e6">More...</a><br/></td></tr>
<tr class="separator:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0a880744bc4e3f45711444571df47d67 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a0a880744bc4e3f45711444571df47d67">save</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;filename) const</td></tr>
<tr class="separator:a0a880744bc4e3f45711444571df47d67 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a1f8ad7b8add515077367fb9949a174d2">write</a> (<a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp;fs) const</td></tr>
<tr class="memdesc:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Stores algorithm parameters in a file storage.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a1f8ad7b8add515077367fb9949a174d2">More...</a><br/></td></tr>
<tr class="separator:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a763a62d1b03042eef7d7fc3ac6c87c79">write</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &gt; &amp;fs, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;name=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>()) const</td></tr>
<tr class="memdesc:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">simplified API for language bindings This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a763a62d1b03042eef7d7fc3ac6c87c79">More...</a><br/></td></tr>
<tr class="separator:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a7763a1c1ffaff84eb3de6b6c83d157af"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">Odometry</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a7763a1c1ffaff84eb3de6b6c83d157af">create</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;odometryType)</td></tr>
<tr class="separator:a7763a1c1ffaff84eb3de6b6c83d157af"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab9b0710c56e1ba0d861a16cae2000c78"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ab9b0710c56e1ba0d861a16cae2000c78">DEFAULT_MAX_DEPTH</a> ()</td></tr>
<tr class="separator:ab9b0710c56e1ba0d861a16cae2000c78"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ace1301318716355d12586c3028e84e1e"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">DEFAULT_MAX_DEPTH_DIFF</a> ()</td></tr>
<tr class="separator:ace1301318716355d12586c3028e84e1e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9a301d39d2dd32519ac1b6f8cfefc358"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9a301d39d2dd32519ac1b6f8cfefc358">DEFAULT_MAX_POINTS_PART</a> ()</td></tr>
<tr class="separator:a9a301d39d2dd32519ac1b6f8cfefc358"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a47b0d3af975ec11c285bb544d54b3720"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a47b0d3af975ec11c285bb544d54b3720">DEFAULT_MAX_ROTATION</a> ()</td></tr>
<tr class="separator:a47b0d3af975ec11c285bb544d54b3720"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a6a08d1b708ab5de096df80d90f9029b6"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a6a08d1b708ab5de096df80d90f9029b6">DEFAULT_MAX_TRANSLATION</a> ()</td></tr>
<tr class="separator:a6a08d1b708ab5de096df80d90f9029b6"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4f7854bd4c50808fbb1328c8faba4023"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4f7854bd4c50808fbb1328c8faba4023">DEFAULT_MIN_DEPTH</a> ()</td></tr>
<tr class="separator:a4f7854bd4c50808fbb1328c8faba4023"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_static_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcv_1_1Algorithm')"><img alt="-" src="../../closed.png"/> Static Public Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td align="right" class="memTemplItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt; </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a623841c33b58ea9c4847da04607e067b">load</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;filename, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;objname=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>())</td></tr>
<tr class="memdesc:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Loads algorithm from the file.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a623841c33b58ea9c4847da04607e067b">More...</a><br/></td></tr>
<tr class="separator:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td align="right" class="memTemplItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt; </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a3ba305a10d02479c13cf7d169c321547">loadFromString</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;strModel, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;objname=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>())</td></tr>
<tr class="memdesc:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Loads algorithm from a String.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a3ba305a10d02479c13cf7d169c321547">More...</a><br/></td></tr>
<tr class="separator:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td align="right" class="memTemplItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt; </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#ad8c591bacb34c485f5b7a250c314fc53">read</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)</td></tr>
<tr class="memdesc:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Reads algorithm from the file node.  <a href="../../d3/d46/classcv_1_1Algorithm.html#ad8c591bacb34c485f5b7a250c314fc53">More...</a><br/></td></tr>
<tr class="separator:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:ac4fbc5da04bddaead526fd3470b5019b"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ac4fbc5da04bddaead526fd3470b5019b">checkParams</a> () const =0</td></tr>
<tr class="separator:ac4fbc5da04bddaead526fd3470b5019b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4cf0681bb36181a8dbb3340b0d0e667e"><td align="right" class="memItemLeft" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4cf0681bb36181a8dbb3340b0d0e667e">computeImpl</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;srcFrame, const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;dstFrame, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;initRt) const =0</td></tr>
<tr class="separator:a4cf0681bb36181a8dbb3340b0d0e667e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pro_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcv_1_1Algorithm')"><img alt="-" src="../../closed.png"/> Protected Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a68eeca71617474ad3d4561786f0289d2 inherit pro_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a68eeca71617474ad3d4561786f0289d2">writeFormat</a> (<a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp;fs) const</td></tr>
<tr class="separator:a68eeca71617474ad3d4561786f0289d2 inherit pro_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a id="details" name="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Base class for computation of odometry. </p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="ae7a3edbfabe941c9af6bd0f9beff53d0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae7a3edbfabe941c9af6bd0f9beff53d0">◆ </a></span>anonymous enum</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">anonymous enum</td>
        </tr>
      </table>
</div><div class="memdoc">
<p>A class of transformation </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ae7a3edbfabe941c9af6bd0f9beff53d0ae3468f480f38fd07af69c3464c87d558"></a>ROTATION </td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ae7a3edbfabe941c9af6bd0f9beff53d0ac2ff112f8f88bc6d52804e7381ac48c4"></a>TRANSLATION </td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ae7a3edbfabe941c9af6bd0f9beff53d0a754692ca9d6cadbc925cc7ce2337ed95"></a>RIGID_BODY_MOTION </td><td class="fielddoc"></td></tr>
</table>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="ac4fbc5da04bddaead526fd3470b5019b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac4fbc5da04bddaead526fd3470b5019b">◆ </a></span>checkParams()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void cv::rgbd::Odometry::checkParams </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Implemented in <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a1dbd0738ac18917c29a226d893c1cf67">cv::rgbd::FastICPOdometry</a>, <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a06f66c25c30dfa6ec51ec945f880eec9">cv::rgbd::RgbdICPOdometry</a>, <a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html#aefeb1e17c0907f3a56f269559df1debf">cv::rgbd::ICPOdometry</a>, and <a class="el" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html#a94c15a2233290ea8b6c5300ca0f39427">cv::rgbd::RgbdOdometry</a>.</p>
</div>
</div>
<a id="ad88ca6c6231d5accf4b3a595d7ebaf0c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad88ca6c6231d5accf4b3a595d7ebaf0c">◆ </a></span>compute() <span class="overload">[1/2]</span></h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool cv::rgbd::Odometry::compute </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>srcImage</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>srcDepth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>srcMask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>dstImage</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>dstDepth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>dstMask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Rt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>initRt</em> = <code><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, Rt</td><td>=</td><td>cv.rgbd_Odometry.compute(</td><td class="paramname">srcImage, srcDepth, srcMask, dstImage, dstDepth, dstMask[, Rt[, initRt]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, Rt</td><td>=</td><td>cv.rgbd_Odometry.compute2(</td><td class="paramname">srcFrame, dstFrame[, Rt[, initRt]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p>Method to compute a transformation from the source frame to the destination one. Some odometry algorithms do not used some data of frames (eg. ICP does not use images). In such case corresponding arguments can be set as empty <a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>. The method returns true if all internal computations were possible (e.g. there were enough correspondences, system of equations has a solution, etc) and resulting transformation satisfies some test if it's provided by the <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">Odometry</a> inheritor implementation (e.g. thresholds for maximum translation and rotation). </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">srcImage</td><td>Image data of the source frame (CV_8UC1) </td></tr>
    <tr><td class="paramname">srcDepth</td><td>Depth data of the source frame (CV_32FC1, in meters) </td></tr>
    <tr><td class="paramname">srcMask</td><td>Mask that sets which pixels have to be used from the source frame (CV_8UC1) </td></tr>
    <tr><td class="paramname">dstImage</td><td>Image data of the destination frame (CV_8UC1) </td></tr>
    <tr><td class="paramname">dstDepth</td><td>Depth data of the destination frame (CV_32FC1, in meters) </td></tr>
    <tr><td class="paramname">dstMask</td><td>Mask that sets which pixels have to be used from the destination frame (CV_8UC1) </td></tr>
    <tr><td class="paramname">Rt</td><td>Resulting transformation from the source frame to the destination one (rigid body motion): dst_p = Rt * src_p, where dst_p is a homogeneous point in the destination frame and src_p is homogeneous point in the source frame, Rt is 4x4 matrix of CV_64FC1 type. </td></tr>
    <tr><td class="paramname">initRt</td><td>Initial transformation from the source frame to the destination one (optional) </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="af706a3bb35d2b69737e7f4492c4ece4f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af706a3bb35d2b69737e7f4492c4ece4f">◆ </a></span>compute() <span class="overload">[2/2]</span></h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool cv::rgbd::Odometry::compute </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>srcFrame</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>dstFrame</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Rt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>initRt</em> = <code><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval, Rt</td><td>=</td><td>cv.rgbd_Odometry.compute(</td><td class="paramname">srcImage, srcDepth, srcMask, dstImage, dstDepth, dstMask[, Rt[, initRt]]</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval, Rt</td><td>=</td><td>cv.rgbd_Odometry.compute2(</td><td class="paramname">srcFrame, dstFrame[, Rt[, initRt]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p>One more method to compute a transformation from the source frame to the destination one. It is designed to save on computing the frame data (image pyramids, normals, etc.). </p>
</div>
</div>
<a id="a4cf0681bb36181a8dbb3340b0d0e667e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4cf0681bb36181a8dbb3340b0d0e667e">◆ </a></span>computeImpl()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual bool cv::rgbd::Odometry::computeImpl </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>srcFrame</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>dstFrame</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Rt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>initRt</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Implemented in <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a1cdbe9e377ebf8e8dd0ce4d70c10f01e">cv::rgbd::FastICPOdometry</a>, <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#ad2a5f64789923118ace25a83efbaab7f">cv::rgbd::RgbdICPOdometry</a>, <a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html#a1c9e09d30453a7f3088d2a7d6afd495a">cv::rgbd::ICPOdometry</a>, and <a class="el" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html#af50664123e41488c9b666a5c7d345b0f">cv::rgbd::RgbdOdometry</a>.</p>
</div>
</div>
<a id="a7763a1c1ffaff84eb3de6b6c83d157af"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7763a1c1ffaff84eb3de6b6c83d157af">◆ </a></span>create()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">Odometry</a>&gt; cv::rgbd::Odometry::create </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp; </td>
          <td class="paramname"><em>odometryType</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd.Odometry_create(</td><td class="paramname">odometryType</td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="ab9b0710c56e1ba0d861a16cae2000c78"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab9b0710c56e1ba0d861a16cae2000c78">◆ </a></span>DEFAULT_MAX_DEPTH()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static float cv::rgbd::Odometry::DEFAULT_MAX_DEPTH </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_Odometry.DEFAULT_MAX_DEPTH(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="ace1301318716355d12586c3028e84e1e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ace1301318716355d12586c3028e84e1e">◆ </a></span>DEFAULT_MAX_DEPTH_DIFF()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static float cv::rgbd::Odometry::DEFAULT_MAX_DEPTH_DIFF </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_Odometry.DEFAULT_MAX_DEPTH_DIFF(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="a9a301d39d2dd32519ac1b6f8cfefc358"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9a301d39d2dd32519ac1b6f8cfefc358">◆ </a></span>DEFAULT_MAX_POINTS_PART()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static float cv::rgbd::Odometry::DEFAULT_MAX_POINTS_PART </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_Odometry.DEFAULT_MAX_POINTS_PART(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="a47b0d3af975ec11c285bb544d54b3720"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a47b0d3af975ec11c285bb544d54b3720">◆ </a></span>DEFAULT_MAX_ROTATION()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static float cv::rgbd::Odometry::DEFAULT_MAX_ROTATION </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_Odometry.DEFAULT_MAX_ROTATION(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="a6a08d1b708ab5de096df80d90f9029b6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6a08d1b708ab5de096df80d90f9029b6">◆ </a></span>DEFAULT_MAX_TRANSLATION()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static float cv::rgbd::Odometry::DEFAULT_MAX_TRANSLATION </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_Odometry.DEFAULT_MAX_TRANSLATION(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="a4f7854bd4c50808fbb1328c8faba4023"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4f7854bd4c50808fbb1328c8faba4023">◆ </a></span>DEFAULT_MIN_DEPTH()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static float cv::rgbd::Odometry::DEFAULT_MIN_DEPTH </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_Odometry.DEFAULT_MIN_DEPTH(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="a9eb4dd7790987524cd5aa5355c602422"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9eb4dd7790987524cd5aa5355c602422">◆ </a></span>getCameraMatrix()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> cv::rgbd::Odometry::getCameraMatrix </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_Odometry.getCameraMatrix(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a658b4fd102a96211fba428b16633b1c8">setCameraMatrix</a> </dd></dl>
<p>Implemented in <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a0cd15a12316ee8d503a785c06381f90b">cv::rgbd::FastICPOdometry</a>, <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a26695ce34fa901245154493542df3fde">cv::rgbd::RgbdICPOdometry</a>, <a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html#a4132f3a9b13a5b8171595414a24ed95c">cv::rgbd::ICPOdometry</a>, and <a class="el" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html#a9eb850a607be782134443e18059ac3bc">cv::rgbd::RgbdOdometry</a>.</p>
</div>
</div>
<a id="ac1cd3bb8aa12d895ec403db30d786b2f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac1cd3bb8aa12d895ec403db30d786b2f">◆ </a></span>getTransformType()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual int cv::rgbd::Odometry::getTransformType </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_Odometry.getTransformType(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a8b4b267ab88b06d85cd394a84553181d">setTransformType</a> </dd></dl>
<p>Implemented in <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#ac206e4fc41fed9bdd77ba51275656104">cv::rgbd::FastICPOdometry</a>, <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a51e1d17d6153b00885a011799aa15043">cv::rgbd::RgbdICPOdometry</a>, <a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html#aac92c8f521c10aa83a5c81289cd801c6">cv::rgbd::ICPOdometry</a>, and <a class="el" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html#aabee260ad620bb3b425eaeab67c358a7">cv::rgbd::RgbdOdometry</a>.</p>
</div>
</div>
<a id="a894cc56de5ecc916d19a7984c6f307a8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a894cc56de5ecc916d19a7984c6f307a8">◆ </a></span>prepareFrameCache()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> cv::rgbd::Odometry::prepareFrameCache </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>frame</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>cacheType</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_Odometry.prepareFrameCache(</td><td class="paramname">frame, cacheType</td><td>)</td></tr></table>
</div><div class="memdoc">
<p>Prepare a cache for the frame. The function checks the precomputed/passed data (throws the error if this data does not satisfy) and computes all remaining cache data needed for the frame. Returned size is a resolution of the prepared frame. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">frame</td><td>The odometry which will process the frame. </td></tr>
    <tr><td class="paramname">cacheType</td><td>The cache type: CACHE_SRC, CACHE_DST or CACHE_ALL. </td></tr>
  </table>
  </dd>
</dl>
<p>Reimplemented in <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a578c1849dbc9df24d80ffc28fda6f9c8">cv::rgbd::FastICPOdometry</a>, <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#af1568ca5cfe8f3f1ac2fc43f8d566f7a">cv::rgbd::RgbdICPOdometry</a>, <a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html#a651fe7eab423d79d258c8f26d12601a0">cv::rgbd::ICPOdometry</a>, and <a class="el" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html#a69a299421caa7871356c8931ef64b3ee">cv::rgbd::RgbdOdometry</a>.</p>
</div>
</div>
<a id="a658b4fd102a96211fba428b16633b1c8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a658b4fd102a96211fba428b16633b1c8">◆ </a></span>setCameraMatrix()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void cv::rgbd::Odometry::setCameraMatrix </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp; </td>
          <td class="paramname"><em>val</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_Odometry.setCameraMatrix(</td><td class="paramname">val</td><td>)</td></tr></table>
</div><div class="memdoc">
<p></p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9eb4dd7790987524cd5aa5355c602422">getCameraMatrix</a> </dd></dl>
<p>Implemented in <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#ac77a0fe8d5d7bcd3e8d76f7626d2031a">cv::rgbd::FastICPOdometry</a>, <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a79e641eac7076266bbf8b602b19e136c">cv::rgbd::RgbdICPOdometry</a>, <a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html#aa9e4e89e20f76445afb86127acb2fa8d">cv::rgbd::ICPOdometry</a>, and <a class="el" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html#aace77bf9b7c997cf34480db6660c186d">cv::rgbd::RgbdOdometry</a>.</p>
</div>
</div>
<a id="a8b4b267ab88b06d85cd394a84553181d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8b4b267ab88b06d85cd394a84553181d">◆ </a></span>setTransformType()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void cv::rgbd::Odometry::setTransformType </td>
          <td>(</td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>val</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_Odometry.setTransformType(</td><td class="paramname">val</td><td>)</td></tr></table>
</div><div class="memdoc">
<p></p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ac1cd3bb8aa12d895ec403db30d786b2f">getTransformType</a> </dd></dl>
<p>Implemented in <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a27faa00de58fa54759c392b7a09464fd">cv::rgbd::FastICPOdometry</a>, <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#ae8d72a324b7f629020000cadde08beef">cv::rgbd::RgbdICPOdometry</a>, <a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html#a702746d52b26e5803d97e4344389ff26">cv::rgbd::ICPOdometry</a>, and <a class="el" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html#aa0da99e19e5a13313df45e088ae73007">cv::rgbd::RgbdOdometry</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/rgbd/<a class="el" href="../../db/d30/depth_8hpp.html">depth.hpp</a></li>
</ul>
</div><!-- contents -->
<!-- HTML footer for doxygen 1.8.6-->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated on Fri Apr 2 2021 11:36:48 for OpenCV by  <a href="http://www.doxygen.org/index.html">
<img alt="doxygen" class="footer" src="../../doxygen.png"/>
</a> 1.8.13
</small></address>
<script type="text/javascript">
//<![CDATA[
addTutorialsButtons();
//]]>
</script>
</body>
</html>
